Depth hull for rendering three-dimensional models

ABSTRACT

Approaches described and suggested herein relate to generating three-dimensional representations of objects to be used to render virtual reality and augmented reality effects on personal devices such as smartphones and personal computers, for example. An initial surface mesh of an object is obtained. A plurality of silhouette masks of the object taken from a plurality of viewpoints is also obtained. A plurality of depth maps are generated from the initial surface mesh. Specifically, the plurality of depth maps are taken from the same plurality of viewpoints from which the silhouette images are taken. A volume including the object is discretized into a plurality of voxels. Each voxel is then determined to be either inside the object or outside of the object based on the silhouette masks and the depth data. A final mesh is then generated from the voxels that are determined to be inside the object.

Users are increasingly purchasing items over the Internet. However,users are generally unable to view or touch items without making apurchase, which sometimes causes hesitance in the user. Additionally,when a customer receives delivery of an item, it may be the first timehe or she has viewed the item in person. The item may not look the sameway the customer envisioned based on photographs viewed online. Forexample, a customer may order a lamp to place on an end table, but whenthe ordered lamp is physically placed on the table, the customer mightnot be pleased with its size or style, particularly relative to otheritems in the room. Providing an accurate rendering of the object mayhelp with the ordering process and increase purchase satisfaction.

BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments in accordance with the present disclosure will bedescribed with reference to the drawings, in which:

FIGS. 1A-1B illustrate an example virtual image capture system inaccordance with various embodiments.

FIG. 2 illustrates a process pipeline for generating a three-dimensionalsurface mesh of an object in accordance with the present disclosure.

FIG. 3 illustrates a pipeline for generating an initial surface meshusing a multi-view stereo and point cloud approach, in accordance withexample embodiments.

FIG. 4A-4B illustrate an example object and silhouette image inaccordance with various embodiments.

FIGS. 5A-5C illustrate estimations of an object with respect to thepresent techniques, in accordance with example embodiments.

FIG. 6 illustrates an example method for generating a three-dimensionalsurface mesh of an object, according to embodiments of the presentdisclosure.

FIG. 7 illustrates an example method for generating an initial surfacemesh, in accordance with example embodiments of the present disclosure.

FIG. 8 illustrates an example method for determining whether a voxel isinside the object, according to embodiments of the present disclosure.

FIG. 9 illustrates an example method for generating a three-dimensionalsurface mesh of an object, according to embodiments of the presentdisclosure.

FIG. 10 illustrates an example computing device in accordance withvarious embodiments.

FIG. 11 illustrates a set of example components of one or more devicesof the present disclosure in accordance with various embodiments.

FIG. 12 illustrates an example computing environment that can be used toimplement aspects of various embodiments.

DETAILED DESCRIPTION

In the following description, various embodiments will be described. Forpurposes of explanation, specific configurations and details are setforth in order to provide a thorough understanding of the embodiments.However, it will also be apparent to one skilled in the art that theembodiments may be practiced without the specific details. Furthermore,well-known features may be omitted or simplified in order not to obscurethe embodiment being described.

Approaches described and suggested herein relate to generatingthree-dimensional representations of objects to be used to rendervirtual reality and augmented reality effects on personal devices suchas smartphones and personal computers, for example. Specifically,various embodiments provide for a relatively low-resourcethree-dimensional model generation technique that suitably handlesdifferent types of object surfaces, including low-feature surfaces(e.g., smooth, reflective, dark) and surfaces that have concaveelements. In some embodiments, an object for which a three-dimensionalmodel is to be made may be placed in an environment, and images of theobject are captured from a plurality of different viewpoints around theobject. The images may be captured using one or a plurality of cameras.The images may each portray a two-dimensional view of the object fromthe respective viewpoint. In some embodiments, the viewpoints from whichthe images are capture may be on a hemisphere or sphere about theobject. In some embodiments, structured light patterns may be projectedonto the environment including the object.

A dense point cloud is generated from the images taken at the pluralityof viewpoints around the object. In some embodiments, a point cloudincludes a series of points positioned to form a “cloud” representingthe outer surfaces of the object. The constructed point cloud may havevarying degrees of point density at different regions, such as dependingon the photometric properties of the object's surfaces. Some surfaces,such as reflective or dark surfaces are photometrically less distinctiveor unreliable. For example, dark surface may be difficult to distinguishwhile some reflective surface may appear to have artifacts picked upfrom the reflection when the surface is actually smooth or flat. Thus,the point cloud at these regions may be less dense and/or prone toreconstruction errors. The present techniques also include additionaltechniques that can be optionally used to improve the quality of thegenerated point cloud, as discussed in further detail below with respectto FIG. 3, albeit the challenges caused by reflective or dark surfacemay still remain.

In addition to generating a point cloud of the object, silhouette masksare generated from each image captured at the plurality of viewpointsand used to help distinguish space occupied by the object from the restof the environment. In some embodiments, each pixel in a silhouette maskmay have one of two values, corresponding to whether the pixelrepresents the object or space not taken up by the object. A silhouettemask corresponding to a particular viewpoint is generated from the imageof the object at that viewpoint by determining whether each pixel of theimage represents a portion of the object or not. If a pixel of the imageis determine to represent a portion of the object, then thecorresponding pixel of the silhouette mask is give a first value of thetwo possible values. For example, pixels associated with the object canbe white in the silhouette mask and pixels not associated with theobject can be black, or vice versa. Three-dimensional model constructionusing such silhouette masks is generally robust to reflective or darksurfaces and thus overcomes the abovementioned vulnerability of pointcloud based construction. However, silhouette mask based constructionhas difficulty handling concave surfaces, as such features would not beseen in any of the silhouette masks taken at any viewpoint, and are thusunaccounted for. However, such concave features are usually detectableand accounted for in a point cloud representation. Thus, silhouette maskdata and point cloud data overcome each other's weaknesses and bothtypes of data are used in generating a final three-dimensionalrepresentation of the object shape, also called a surface mesh.

In generating a surface mesh representation of the object, athree-dimensional environment in which the object is located is firstdetermined, such as using the images captures at the plurality ofviewpoints. The three-dimensional environment is discretized into aplurality of three-dimensional spatial units called voxels. For eachvoxel, the silhouette mask data and the point cloud data are used todetermine whether the voxel represents a portion of the object or not.In some embodiments, each voxel can be assigned one of two values (e.g.,1 or 0) corresponding to whether the voxel is inside the object oroutside of the object. The voxels that are ultimately determined torepresent a portion of the object is used to define the surface mesh ofthe object. In determining whether a particular voxel represents aportion of the object, each viewpoint gets a “vote” based on the dataassociated with each viewpoint. In this context, a vote is an estimationof whether the voxel is inside the object or outside of the object basedon the data associated with that viewpoint.

For each viewpoint, a depth map and a corresponding confidence map aregenerated from the initial surface mesh. A depth map for a certainviewpoint provides information relating to the distance of the surfacesof the initial surface mesh from the corresponding viewpoint (i.e., anestimation of how far a portion of the object is from thecamera/viewpoint). In some embodiments, a depth map has atwo-dimensional resolution which may or may not be equivalent to theimage resolution, and a depth value for each unit defined by the depthmap resolution. In some embodiments, the depth value may be on adiscrete scale with a certain resolution. The confidence mapcorresponding to a depth map indicates the confidence level of the depthestimations across the depth map. For example, in some embodiments, theconfidence map may have a resolution corresponding to that of the depthmap. Each unit of the confidence map corresponds to a unit of the depthmap, and each unit of the confidence map has a confidence valuecorresponding to the estimated depth value of the corresponding unit ofthe depth map. The confidence value may be calculated during thecreation of the initial surface mesh. Generally, regions with high pointdensity in the point cloud or otherwise robust data will result inhigher confidence value, and regions with low point density or artifactmay result in lower confidence value. A confidence value threshold maybe set, and used to determine whether a depth value is to be used informing the final surface mesh.

For each viewpoint, if a voxel is outside of the object as determinedbased on the silhouette mask data, then the voxel is determined to notrepresent a portion of the object according to the data at thatviewpoint. If the voxel is inside the object as determined based on thesilhouette mask data, then the depth map and confidence map associatedwith that viewpoint can be used to confirm if the voxel is indeed insidethe object or if the voxel is actually concave space that could not beseen in the silhouette mask data. In some embodiments, if the silhouettemask data indicates that the voxel is inside the object and the depthmap indicates that the voxel is outside of the object, then theconfidence map is used to determine which way to vote at that viewpoint.For example, a confidence threshold condition may be set, and if theconfidence value associated with the depth estimation at the voxelsatisfies the confidence threshold condition, then the vote follows thedepth map data and the viewpoint votes that the voxel is outside of theobject. If the confidence value does not satisfy the confidencethreshold condition, then the vote follows the silhouette mask data andthe viewpoint votes that the voxel is inside the object.

To make a final decision on whether a voxel is inside the object or not,the votes from all the viewpoints are aggregated. In some embodimentsthe votes may be weighted or calculated according to a certainaggregation algorithm to produce the final decision. This process isperformed for all the voxels. Thus, every voxel is individuallydesignated as either being inside (i.e., representing a portion of) theobject or outside (i.e., not representing a portion of) the object. Asurface mesh, or three-dimensional representation of the shape of anobject, is generated based at least in part on the voxels that aredetermined as being inside the object. Additionally, the final surfacemesh structure may be optimized for mobile device viewing. The surfacemesh structure and viewpoint images can be packaged and provided to amobile device. When the surface mesh structure is viewed from a certainangle, the appropriate image can overlay the object mesh structure, suchthat a user of the mobile device can view a photorealisticthree-dimensional representation of the object. Various other suchfunctions can be used as well within the scope of the variousembodiments as would be apparent to one of ordinary skill in the art inlight of the teachings and suggestions contained herein.

An image capture system 100 for obtaining images of object from aplurality of viewpoints is illustrated in FIG. 1A. In the example shownin FIG. 1A, a camera 104 captures a number of images of an object 106.In embodiments, the camera 104 moves around the object 106 in apredefined camera path 108. The camera path 108 can be configured toallow the camera 104 to view the object 106 from a plurality ofviewpoints. In embodiments, the camera 104 can capture images at over athousand locations along the camera path 108. For example, asillustrated in FIG. 1B, the camera can capture views corresponding tothe illustrated hemisphere 102 about the object 106. A plurality ofcameras can be used to capture images at the different viewpoints. Forexample, in some embodiments, nineteen cameras can be used and travelalong distinct camera path, each of which captures an image at 72different locations along their camera path. This would result in 1,368images at distinct viewpoints. Likewise, one camera may be used, inwhich the single camera is movable between all of the viewpoints tocapture all 1,368 images. In some embodiments, the object may be placedon a turntable that rotates, and thereby rotates the object, withrespect to the cameras. For example, in some embodiments, the turntablemay rotate 360 degrees in a horizontal orientation and a camera may movein a vertical orientation. Together, this allows the camera to captureviews of the object from a plurality of viewpoint, such as an entirehemisphere of viewpoints about the object. The “density” of thisviewpoint hemisphere 102, or total number of viewpoints at which imagesare captured, can be selectively configured for designed for. In someembodiments, to increase the robustness of the data, structured lightpatterns are projected onto the scene. Since the structured light isreflected by surfaces, depth information can be more robustly obtainedfrom the captured images.

When an image is captured, pose information can be recorded as well. Thepose information indicates the angle at which a particular image wascaptured. To record pose information, a coordinate system can beanchored on the object. That is, the origin of a three-dimensionalcoordinate system can be located on the object. For example, acoordinate system can be anchored to the bottom center of therepresentation of the object. That is, the bottom center of therepresentation of the object can be the origin of the coordinate system.In embodiments, the coordinate system can be anchored to the center of across section at the midpoint of the representation of the object'sheight, which would correspond to the center of the representation ofthe object. In embodiments, rather than using a global anchor system,specific points on the representation of the object can be used. Theangle information recorded for a image indicates (i) where the camerawas located in the coordinate system at the time of capture, and (ii)how the camera was oriented with respect to the object at the time ofcapture. The rays representing the various viewpoints in FIG. 1B providean example illustration of poses, with each point representing a cameralocation and each arrow representing a camera orientation. Eachcomponent of the pose, the camera location, and the camera orientation,can be represented by three degrees of freedom within the coordinatesystem, such that each pose is defined by six degrees of freedom. Threedegrees of freedom provide the camera location and another three degreesof freedom indicate the direction in which the camera was pointingduring image capture. In some embodiments, camera intrinsics can also berecorded. This information can include the focal lengths and principalpoint for each camera.

FIG. 2 illustrates a process pipeline 200 for generating athree-dimensional surface mesh of an object in accordance with thepresent disclosure. As described above, a plurality of images 202 of theobject are captured from a plurality of viewpoints all around theobject. The images 202 may each portray a two-dimensional view of theobject from the respective viewpoint. In some embodiments, such images202 may already exist and are simply accessed for the purposes of thepresent technique. The images 202 are then processed through twodifferent techniques to obtain two types of data used to construct afinal surface mesh 218 of the object. Specifically, the images 202 areprocessed through a multi-view stereo algorithm 204 to generate a densepoint cloud 206 representation of the object. In some embodiments, thepoint cloud 206 undergoes surface reconstruction 208 to generate aninitial surface mesh 210. The initial surface mesh representsthree-dimensional shape of the object as determined using the pointcloud information. Techniques for creating the initial surface mesh 210are discussed in greater detail with respect to FIG. 3.

The plurality of images 202 captured at the plurality of viewpoints arealso processed through a foreground segmentation technique 212 toproduce a plurality of silhouette masks 214, or silhouette images,corresponding to the plurality of viewpoints. In some embodiments, adifferent set of images is used for the foreground segmentation 212 thanused for the multi-stereo algorithm 204. Specifically, images capturedusing the abovementioned structured light pattern projections may beused for the multi-stereo algorithm 204, while normal RGB imagescaptured without added structured light projections are used for theforeground segmentation. In some embodiments, each viewpoint image 202is converted to a silhouette mask. The foreground segmentation technique212 determines which pixels of an image are associated with the objectand which pixels are not associated with the object. In someembodiments, each pixel in a silhouette mask may have one of two values,corresponding to whether the pixel represents the object or not. Forexample, pixels associated with the object can be white in thesilhouette mask and pixels not associated with the object can be black,or vice versa.

Both of the techniques above have certain shortcomings with respect togenerating a three-dimensional model. The multi-view stereo/point cloudtechnique may have trouble reconstructing reflective or dark surfaces.Such surfaces may be photometrically less distinctive or unreliable, andthus carry sparse information or misleading artifacts. Thus, the pointcloud at these regions may be less dense and/or prone to reconstructionerrors, which may cause degradation of the initial surface mesh.Three-dimensional model construction using such silhouette masks isgenerally robust to reflective or dark surfaces and thus overcomes theabovementioned vulnerability of point cloud based construction. However,silhouette mask based construction has difficulty handling concavesurfaces, as such features would not be seen in any of the silhouettemasks taken at any viewpoint, and are thus unaccounted for. Such concavefeatures are usually detectable and represented in a point cloudrepresentation. Thus, both silhouette mask data and point cloud/initialsurface mesh data overcome each other's weak points and both are used ina depth hull reconstruction technique 216 to generate a final surfacemesh 218 representation of the object. The depth hull reconstructiontechnique 216 is described in further detail below with respect to FIGS.5A-5C.

FIG. 3 illustrates a pipeline 300 for generating an initial surface meshusing a multi-view stereo and point cloud approach, in accordance withexample embodiments. As mentioned, the images captured at the pluralityof viewpoints are used to compute a dense point cloud 302. In someembodiments, such as due to physical constraints of the camera setup,point cloud generation is divided into many independent multi-viewstereo problems based on the turntable's rotation position. For example,first, the point cloud for each “longitude” is separately obtained, andthe final output point cloud is simply the aggregation of the pointclouds for all the longitudes. In some embodiments, during the scanningprocess, as the object rotates with the turntable, an activeillumination and/or structured light stay fixed. Therefore, theprojected pattern shifts its relative position with respect to theobject across different turntable positions, and feature points arematched within images taken at the same longitude.

The constructed point cloud 302 can have varying degree of pointdensity, such as depending on the photometric property of the scannedobject's surface. Around glossy or dark surfaces, multi-view stereo databecomes less reliable because reflection of the projected pattern isless distinctive, resulting in lower point density in those regions.Thus, the resulting point cloud may have regions with missing data,which presents a challenge for surface reconstruction. For example,surface reconstruction using screened Poisson techniques can produceartifacts (e.g., erroneous and/or protruding surfaces) when it needs toextrapolate a large region with missing points. Otherwise, when givensufficient data points, this algorithm generates smooth surfaces and canhandle noisy data well. One goal of the present technique is to minimizethe artifacts that may be produced. In order to do that, a Delaunaymeshing technique is used. Delaunay triangulation based methods producepiecewise linear approximation for areas of the point cloud that hasmissing data or low point density. It performs a tightest possible shortcircuiting at those areas, which prevents bloated or protrudingsurfaces. While it behaves better with non-uniform sampling of the pointcloud, the Delaunay generated mesh tends to be chunky and less detailedthan the Poisson generated mesh. To mitigate the shortcomings of eithermethod, a technique is used which utilizes data from both method toproduce a more reliable initial surface mesh.

Specifically, the Delaunay-based meshing 304 is first performed on theraw point cloud data 302 to produce a preliminary surface mesh 306.Point sampling is then performed on the Delaunay generated preliminarymesh 306, and the sampled points 310 are used to fill in the originalraw point cloud 302 where there is missing data or low point density,producing an augmented point cloud 312. The augmented point cloud hasmore complete data than the original point cloud 302. In someembodiments, the Poisson-based meshing technique 314 is applied to theaugmented point cloud 312 to generate the initial surface mesh 316 usedin FIG. 2. Alternatively expressed, given the input point set (P_(in))of the point cloud, a preliminary Delaunay mesh (M_(d)) is generatedusing a Delaunay triangulation approach. Sample points are thenuniformly taken from the surface of Delaunay mesh (M_(d)). Let thesample points be denoted as P_(d). The input point set (P_(in)) of thepoint cloud and the sampled points (P_(d)) are aggregated to generate anaggregated points cloud (P_(agg)), where P_(agg)=P_(a)∪P_(in). ∪P_(in).The aggregated points cloud (P_(agg)) is then used in screened Poissonsurface reconstruction to generate the initial surface mesh (M_(r)) tobe used in the three-dimensional depth hull reconstruction outlined inthe pipeline of FIG. 2. In some embodiments, a confidence score C_(i) iscomputed for each vertex V_(i) in the augmented point cloud or initialmesh. Regions with higher point density imply better multi-view stereoreconstruction, and thus the corresponding vertices in the region willhave higher confidence scores. Confidence scores provides thresholdingcapability and thus increased flexibility and in determining whether touse the multi-view stereo data or the silhouette data is determining thefinal object surface mesh.

Silhouette masks are also generated from each image captured at theplurality of viewpoints. FIG. 4A illustrates an example of an image 400of an object 402 and a background or scene 406 taken from a certainviewpoint, in accordance with example embodiments. FIG. 4B illustratesan example of a silhouette mask 410 generated from the image 400, inaccordance with example embodiments. The image 400 is a two-dimensional(i.e., flat) representation of a scene including the object 402 from aspecific viewpoint. The image 400 may be made up of a plurality oftwo-dimensional pixels. The foreground segmentation technique 212 (FIG.2) determines which pixels of an image 400 are illustrate a portion ofthe object 202 and which pixels do not illustrate a portion of theobject (i.e., illustrates the background 404). In some embodiments, thepixels of the silhouette mask 410 correspond to the pixels in the image400, in which each pixel in the silhouette mask 410 is assigned one oftwo values, depending on whether the corresponding pixel of the image400 illustrates a portion of the object or not. For example, pixels thatillustrate a portion of the object 412 can be black in the silhouettemask 410 and pixels not associated with the object 414 can be white, asillustrated in FIG. 4B, or vice versa. In various implementations, morethan two pixel values can be used to show the degree of confidence withwhich it can be said that a pixel belongs to an object. In someembodiments, the resolution of the image may be degraded when generatingthe silhouette mask 410, in which a pixel in the silhouette mask 410 maycorrespond to a group or cluster of pixels. Such a silhouette mask 410may be generated for each of the plurality of viewpoints.

The multi-view stereo/point cloud technique may have troublereconstructing reflective or dark surfaces. Such surfaces may bephotometrically less distinctive or unreliable, and carry sparseinformation or misleading artifacts. Thus, the point cloud at theseregions may be less dense and/or prone to reconstruction errors, whichmay cause degradation of the initial surface mesh. Three-dimensionalmodel construction using such silhouette masks is generally robust toreflective or dark surfaces and thus overcomes the abovementionedvulnerability of point cloud based construction. However, silhouettemask based construction has difficulty handling concave surfaces, assuch features would not be seen in any of the silhouette masks taken atany viewpoint, and are thus unaccounted for. Such concave features areusually detectable and represented in a point cloud representation.Thus, both silhouette mask data and point cloud/initial surface meshdata overcome each other's weak points and both are used in a depth hullreconstruction technique to generate a final surface mesh representationof the object.

In generating a three-dimensional surface mesh representation of theobject, a three-dimensional environment in which the object is locatedis first determined, such as using the images captures at the pluralityof viewpoints. The three-dimensional environment is discretized into aplurality of three-dimensional spatial units called voxels. For eachvoxel, the silhouette mask data and the point cloud data are used todetermine whether the voxel represents a portion of the object or not.In some embodiments, each voxel can be assigned one of two values (e.g.,1 or 0). The voxels that are ultimately determined to represent aportion of the object is used to define the three-dimensional mesh ofthe object. In determining whether a particular voxel represents aportion of the object, each viewpoint gets a “vote” based on the dataassociated with each viewpoint. In this context, a vote is an estimationof whether the voxel is inside the object or outside of the object basedon the data associated with that viewpoint. For each viewpoint, a depthmap and a corresponding confidence map are generated from the pointcloud data. The depth map provides an estimation of how far a portion ofthe object is from the camera and the confidence map indicates theconfidence level of the depth estimation.

For each viewpoint, if a voxel is outside of the object as determinedbased on the silhouette mask data, the voxel is determined to notrepresent a portion of the object. If the voxel is inside the object asdetermined based on the silhouette mask data, then the depth map andconfidence map associated with that viewpoint can be used to confirm ifthe voxel is indeed inside the object or if the voxel is actuallyconcave space that could not be seen in the silhouette mask data. Insome embodiments, if the silhouette mask data indicates that the voxelis inside the object and the depth map indicates that the voxel isoutside of the object, then the confidence map is used to determinewhich way to vote at that viewpoint. For example, an inclusionconfidence threshold condition may be set, and if the confidence valueassociated with the depth estimation at the voxel satisfies theinclusion confidence threshold condition, then the vote follows thedepth map data and the viewpoint votes that the voxel is outside of theobject. If the confidence value does not satisfy the inclusionconfidence threshold condition, then the vote follows the silhouettemask data and the viewpoint votes that the voxel is inside the object.

To make a final decision on whether a voxel is inside the object or not,the votes from all the viewpoints are aggregated. In some embodimentsthe votes may be weighted or calculated according to a certainaggregation algorithm to produce the final decision. This process isperformed for all the voxels. Thus, every voxel is individuallydesignated as either being inside (i.e., a part of) the object oroutside (i.e., not a part of) the object. A three-dimensional modelrepresenting the three-dimensional shape of the object, also called asurface mesh, is generated based at least in part on the voxels that aredetermined as being a part of the object. Accordingly, the surface meshstructure may be optimized for mobile device viewing. The surface meshstructure and viewpoint images can be packaged and provided to a mobiledevice. When the surface mesh structure is viewed from a certain angle,the appropriate image can overlay the object mesh structure, such that auser of the mobile device can view a photorealistic three-dimensionalrepresentation of the object.

FIGS. 5A-5C illustrate estimations of an object with respect to thepresent techniques, in accordance with example embodiments. The shadedregions indicate what is estimated to be part of the object under thedifferent techniques from the given viewpoint, and white space indicateswhat is estimated to be outside of the object. Specifically, FIG. 5Aillustrates an estimation 500 of the object using the silhouette maskdata. Given an image of the object 502 from viewpoint, its silhouettemask constraints the object extent to a visual cone 504. This can beused as an upper or outer bound for where the object 502 is. In otherwords, the object cannot be closer to the camera than indicated throughthe silhouette mask data. Also, absent any other structure information(e.g., multi-view stereo data), this upper bound can be used as viableestimate of structure. The voxels projecting outside the silhouettemasks get a zero vote since they cannot be inside the object.

As mentioned, the present technique utilizes a volumetric approach,discretizing volume into voxels and designate whether each voxel isinside the object or not. Specifically, every image viewpoint votes onwhether a voxel is inside the object or not. In some embodiments, thereconstructed initial surface mesh is projected onto a given viewpointto generate a corresponding depth map and a corresponding confidencemap. The depth map restricts the object extent in addition to thatspecified by the silhouette mask, since a voxel closer to the camerathan its depth map cannot lie inside the object. FIG. 5B illustrates theestimation 510 of the object 502 based on the depth map associated withthe given viewpoint, including the estimated depth information. Asillustrated, the depth estimated through the multi-view stereo data isfurther from the camera than that estimated through the silhouette datashown in FIG. 5A. However, in some embodiments, whether the multi-viewstereo depth determination is accepted over the silhouette mask depthdetermination depends on the confidence value associated with themulti-view stereo depth determination at that region. FIG. 5Cillustrates an estimation 520 of the object using both the depth mapdata and the silhouette data. In the illustrated example, with referenceto FIG. 5C, the confidence level associated with the circled regionsfalls below a threshold. The voxels projecting into regions with lowconfidence estimates revert back to silhouette mask depth determination.For regions with high confidence estimates, only voxels beyond themulti-view stereo depth measurement are given a positive (i.e., insidethe object) vote. The per viewpoint voxel votes are aggregated over allavailable viewpoints and converted to a surface mesh by computing aniso-surface of this scalar field. The choice of iso-value may dependupon the error tolerance on votes. For example, errors can occur due totwo separate sources with very different tolerances, including pixelerrors in silhouette masks and metric errors in structure estimation.

FIG. 6 illustrates an example method 600 for generating athree-dimensional surface mesh of an object, according to embodiments ofthe present disclosure. It should be understood that, for any processdiscussed herein, there can be additional, fewer, or alternative stepsperformed in similar or alternative orders, or in parallel, within thescope of the various embodiments. In this example, a plurality of imagesof an object taken from a plurality of viewpoints are obtained 602.Specifically, the plurality of images correspond to the plurality ofviewpoints in a one-to-one manner. That is, each viewpoint has acorresponding image. The images may be captured using one or a pluralityof cameras. The images may each portray a two-dimensional view of theobject from the respective viewpoint. In some embodiments, theviewpoints from which the images are capture may be on a hemisphere orsphere about the object. In some embodiments, structured light patternsmay be projected onto the environment including the object. A pointcloud representing the object is generated 604 from the plurality ofimages. An initial surface mesh is then generated 606 from the pointcloud. In some embodiments, generating an initial surface mesh is notrequired and the point cloud is used directly. A plurality of silhouetteimages is also generated 608 from the plurality of images. In someembodiments, each pixel in a silhouette mask may have one of two values,corresponding to whether the pixel represents the object or space nottaken up by the object. A silhouette mask corresponding to a particularviewpoint is generated from the image of the object at that viewpoint bydetermining whether each pixel of the image represents a portion of theobject or not. A volume including the object is discretized 610 into aplurality of voxels. Voxels are three-dimensional spatial units thatmake up a larger volume. The voxels are then each determined 612 to beeither inside (i.e., a part of) a representation of the object oroutside (i.e., not a part of) the representation of the object. Voxelsthat are not inside the representation of the object may include emptyspace around the object or background objects. A final surface mesh ofthe object is then determined based on the voxels that are determined tobe inside or a part of the representation of the object.

FIG. 7 illustrates an example method 700 for generating an initialsurface mesh, such as the initial surface mesh mentioned in step 606 ofFIG. 6, in accordance with example embodiments of the presentdisclosure. In this example, a preliminary surface mesh is firstgenerated 702 from a point cloud using a first meshing algorithm such asa Delaunay-based meshing algorithm. Sample points are then obtained 704from the preliminary surface mesh. The sample points are then added 706back into the original point cloud to form an augmented (i.e., enhanced)point cloud. In some embodiments, the points are sampled at uniformintervals about the preliminary surface mesh. In some embodiments, oneor more sparse regions of the initial point cloud are determined, eithermanually or automatically, and the points are sampled from a portion ofthe preliminary surface mesh corresponding to the one or more spaceregions of the initial point cloud.

The added points may fill in regions of the point cloud that has sparseor missing points. In some embodiments, the initial surface mesh isgenerated 708 from the augmented point cloud using a second meshingalgorithm such as a Poisson-based meshing algorithm. In someembodiments, various types of three-dimensional representations of theobject may be generated from the augmented point cloud, and is notlimited specifically to a surface mesh. In some embodiments, theaugmented point cloud is used directly, along with the silhouette masks,to determine which of the plurality of voxels are a part of the object.Surface reconstruction using Poisson techniques alone can produceartifacts (e.g., erroneous and/or protruding surfaces) when it needs toextrapolate a large region with missing points. Delaunay triangulationbased methods produce piecewise linear approximation for areas of thepoint cloud that has missing data or low point density. It performs atightest possible short circuiting at those areas, which preventsbloated or protruding surfaces. While it behaves better with non-uniformsampling of the point cloud, the Delaunay generated mesh tends to bechunky and less detailed than the Poisson generated mesh. The presenttechniques mitigate the shortcomings of either method.

FIG. 8 illustrates an example method 800 for determining whether a voxelis inside the object, according to embodiments of the presentdisclosure. The method 800 may be used in step 612 of FIG. 6 todetermine which of the plurality of voxels are a part of the object. Inthis example, for a particular voxel, if is determined 802 whether thevoxel is inside the object according to the silhouette mask of aparticular viewpoint. If the voxel is not inside the object according tothe silhouette mask of the particular viewpoint, then the voxel isdetermined 810 to be outside of the object according to the particularviewpoint. If the voxel is determined to be inside the object accordingto the silhouette mask of the particular viewpoint, then thecorresponding depth map is referenced. Specifically, it is thendetermined 804 whether the voxel is inside the object according to thedepth map corresponding to the particular viewpoint. If the voxel isalso determined to be inside object according to the corresponding depthmap, then it can be determined 808 that the voxel is inside the objectaccording to the viewpoint. However, if the voxel is not determined tobe inside the object according to the depth map (i.e., if the silhouettemask and the depth map disagree), then the confidence map is referenced.Specifically, it is then determined 806 whether the depth determinationhas a confidence value that satisfies a threshold condition. If theconfidence value does satisfy the threshold condition, then the voxel isdetermined to be outside of the object, as indicated by the depth map.If the confidence value does not satisfy the threshold condition, thenthe determination defaults to the silhouette mask-based determinationthat the voxel is inside the object 808. Alternatively expressed, incases where the silhouette data and the depth map data disagree, if theconfidence value associated with the depth determination satisfies thethreshold condition, then the depth map-based determination is used. Ifthe confidence value does not satisfy the threshold condition, then thesilhouette mask-based determination is used. For example, in someembodiments, the confidence value may satisfy a threshold condition ifthe confidence value is above a certain value. In some embodiments, theconfidence value may satisfy a threshold condition if the confidencevalue is below a certain value. In some embodiments, the confidencevalue may satisfy a threshold condition if the confidence value iswithin a certain range. Additionally, in some embodiments, theconfidence value may be expressed as discrete levels (e.g., low, medium,high) rather than numerical numbers, and the threshold conditionincludes one or more acceptable levels.

The above-described steps may be performed for each viewpoint, using thecorresponding silhouette mask and depth map. After a determination hasbeen obtained for each viewpoint, the determinations are aggregatedacross all the viewpoints. In some embodiments the votes may be weightedor calculated according to a certain aggregation algorithm to producethe final decision. This process may be performed for all the voxels.Thus, every voxel is individually designated as either being inside(i.e., a part of) the object or outside (i.e., not a part of) theobject.

FIG. 9 illustrates an example method 900 for generating a representation(e.g., three-dimensional surface mesh) of an object, according toembodiments of the present disclosure. In this example, an initialsurface mesh or point cloud of an object is obtained 902. The initialsurface mesh may have been created using a multi-view stereo approach,or other mesh creating approach. The initial surface mesh or point cloudmay have been previously generated or provided and stored in memory. Aplurality of silhouette masks of the object taken from a plurality ofviewpoints is also obtained 904. Similarly, the silhouette masks mayhave been previously generated or provided and stored in memory. Aplurality of depth maps are generated 906 from the initial surface meshor point cloud. Specifically, the plurality of depth maps are taken fromthe same plurality of viewpoints from which the silhouette images aretaken. Each depth map has a corresponding confidence map. A volumeincluding the object is discretized 908 into a plurality of voxels(e.g., three-dimensional spatial units). Each voxel is then determined910 to be either inside the object or outside of the object based on thesilhouette masks and the depth data. A final mesh is then generated 912from the voxels that are determined to be inside the object.

FIG. 10 illustrates a set of components of an example computing device1000 that can be utilized to implement aspects of the variousembodiments. FIG. 11 illustrates a set of components of an examplecomputing device 1100 that can be used to implement aspects of variousembodiments. The device 1000, 1100 can include at least one processor1102 for executing instructions that can be stored in a memory device orelement 1104. As would be apparent to one of ordinary skill in the art,the device can include many types of memory, data storage orcomputer-readable media, such as a first data storage for programinstructions for execution by the at least one processor 1102, the sameor separate storage can be used for images or data, a removable memorycan be available for sharing information with other devices, and anynumber of communication approaches can be available for sharing withother devices. The device may include at least one type of displayelement 1002, such as a touch screen, electronic ink (e-ink), organiclight emitting diode (OLED) or liquid crystal display (LCD), althoughdevices such as servers might convey information via other means, suchas through a system of lights and data transmissions. The devicetypically will include one or more networking components, such as aport, network interface card, or wireless transceiver that enablescommunication over at least one network. The device can include at leastone input device able to receive conventional input from a user. Thisconventional input can include, for example, a push button, touch pad,touch screen, wheel, joystick, keyboard, mouse, trackball, keypad or anyother such device or element whereby a user can input a command to thedevice. These I/O devices could even be connected by a wireless infraredor Bluetooth or other link as well in some embodiments. In someembodiments, however, such a device might not include any buttons at alland might be controlled only through a combination of visual and audiocommands such that a user can control the device without having to be incontact with the device.

The device 1000, 1100 can include one or more imaging elements 1010,1108. One or more orientation determining elements 1110 can determinethe orientation of the device, for example in relation to a user's faceor eyes. Various camera-based and other sensors 1004, 1008, 1012, 1018can be used to determine orientation. A positioning element 1112 candetermine the position of the device. The positioning element 1112 canuse one or more of GPS, local network detection, Bluetooth connection,or other protocols. One or more input elements 1110 can register userinput, for example input received from a touch screen display. Anexample device 1000, 1100 will also include power components 1116 andwireless components 1114 to communicate with other devices wirelessly.

As discussed, different approaches can be implemented in variousenvironments in accordance with the described embodiments. As will beappreciated, although a Web-based environment is used for purposes ofexplanation in several examples presented herein, different environmentsmay be used, as appropriate, to implement various embodiments. Thesystem includes an electronic client device, which can include anyappropriate device operable to send and receive requests, messages orinformation over an appropriate network and convey information back to auser of the device. Examples of such client devices include personalcomputers, cell phones, handheld messaging devices, laptop computers,set-top boxes, personal data assistants, electronic book readers and thelike. The network can include any appropriate network, including anintranet, the Internet, a cellular network, a local area network or anyother such network or combination thereof. Components used for such asystem can depend at least in part upon the type of network and/orenvironment selected. Protocols and components for communicating viasuch a network are well known and will not be discussed herein indetail. Communication over the network can be enabled via wired orwireless connections and combinations thereof. In this example, thenetwork includes the Internet, as the environment includes a Web serverfor receiving requests and serving content in response thereto, althoughfor other networks, an alternative device serving a similar purposecould be used, as would be apparent to one of ordinary skill in the art.

FIG. 12 is an example of an illustrative environment 1200 in whichembodiments can be implemented. The illustrative environment 1200includes at least one application server 1208 and a data store 1210. Itshould be understood that there can be several application servers,layers or other elements, processes or components, which may be chainedor otherwise configured, which can interact to perform tasks such asobtaining data from an appropriate data store. As used herein, the term“data store” refers to any device or combination of devices capable ofstoring, accessing and retrieving data, which may include anycombination and number of data servers, databases, data storage devicesand data storage media, in any standard, distributed or clusteredenvironment. The application server 1208 can include any appropriatehardware and software for integrating with the data store as needed toexecute aspects of one or more applications for the client device andhandling a majority of the data access and business logic for anapplication. The application server 1208 provides access controlservices in cooperation with the data store and is able to generatecontent such as text, graphics, audio and/or video to be transferred tothe user, which may be served to the user by the Web server in the formof HTML, XML or another appropriate structured language in this example.The handling of all requests and responses, as well as the delivery ofcontent between the client device and the application server, can behandled by the Web server 1206. It should be understood that the Webserver 1206 and application servers 1208 are merely example components,as structured code discussed herein can be executed on any appropriatedevice or host machine as discussed elsewhere herein.

The data store 1210 can include several separate data tables, databasesor other data storage mechanisms and media for storing data relating toa particular aspect. For example, the data store 1210 illustratedincludes mechanisms for storing content 1212 (e.g., production data) anduser information 1216, which can be used to serve content for theproduction side. The data store is also shown to include a mechanism forstoring log or session data 1214. It should be understood that there canbe many other aspects that may need to be stored in the data store, suchas page image information and access rights information, which can bestored in any of the above listed mechanisms as appropriate or inadditional mechanisms in the data store. The data store 1210 isoperable, through logic associated therewith, to receive instructionsfrom the application server and obtain, update or otherwise process datain response thereto. In one example, a user might submit a searchrequest for a certain type of item. In this case, the data store 1210might access the user information to verify the identity of the user andcan access the catalog detail information to obtain information aboutitems of that type. The information can then be returned to the user,such as in a results listing on a Web page that the user is able to viewvia a browser on the user device. Information for a particular item ofinterest can be viewed in a dedicated page or window of the browser.

Each server 1206, 1208 typically will include an operating system thatprovides executable program instructions for the general administrationand operation of that server and typically will includecomputer-readable medium storing instructions that, when executed by aprocessor of the server, allow the server to perform its intendedfunctions. Suitable implementations for the operating system and generalfunctionality of the servers are known or commercially available and arereadily implemented by persons having ordinary skill in the art,particularly in light of the disclosure herein.

The environment 1200 in one embodiment is a distributed computingenvironment utilizing several computer systems and components that areinterconnected via communication links, using one or more computernetworks or direct connections. However, it will be appreciated by thoseof ordinary skill in the art that such a system could operate equallywell in a system having fewer or a greater number of components than areillustrated. Thus, the depiction of the systems herein should be takenas being illustrative in nature and not limiting to the scope of thedisclosure.

The various embodiments can be further implemented in a wide variety ofoperating environments, which in some cases can include one or more usercomputers or computing devices 1218, 1220, 1222, 1224 which can be usedto operate any of a number of applications. User or client devices 1218,1220, 1222, 1224 can include any of a number of general purpose personalcomputers, such as desktop 1224 or laptop computers 1222 running astandard operating system, as well as cellular, wireless and handhelddevices 1218, 1220 running mobile software and capable of supporting anumber of networking and messaging protocols. Such a system can alsoinclude a number of workstations running any of a variety ofcommercially-available operating systems and other known applicationsfor purposes such as development and database management. These devicescan also include other electronic devices, such as dummy terminals,thin-clients, gaming systems and other devices capable of communicatingvia a network.

Most embodiments utilize at least one network 1204 that would befamiliar to those skilled in the art for supporting communications usingany of a variety of commercially-available protocols, such as TCP/IP,FTP, UPnP, NFS, and CIFS. The network 1204 can be, for example, a localarea network, a wide-area network, a virtual private network, theInternet, an intranet, an extranet, a public switched telephone network,an infrared network, a wireless network and any combination thereof.

In embodiments utilizing a Web server 1206, the Web server can run anyof a variety of server or mid-tier applications, including HTTP servers,FTP servers, CGI servers, data servers, Java servers and businessapplication servers. The server(s) may also be capable of executingprograms or scripts in response requests from user devices, such as byexecuting one or more Web applications that may be implemented as one ormore scripts or programs written in any programming language, such asJava®, C, C # or C++ or any scripting language, such as Perl, Python orTCL, as well as combinations thereof. The server(s) may also includedatabase servers, including without limitation those commerciallyavailable from Oracle®, Microsoft®, Sybase® and IBM® as well asopen-source servers such as MySQL, Postgres, SQLite, MongoDB, and anyother server capable of storing, retrieving and accessing structured orunstructured data. Database servers may include table-based servers,document-based servers, unstructured servers, relational servers,non-relational servers or combinations of these and/or other databaseservers.

The environment 1200 can include a variety of data stores and othermemory and storage media as discussed above. These can reside in avariety of locations, such as on a storage medium local to (and/orresident in) one or more of the computers or remote from any or all ofthe computers across the network. In a particular set of embodiments,the information may reside in a storage-area network (SAN) familiar tothose skilled in the art. Similarly, any necessary files for performingthe functions attributed to the computers, servers or other networkdevices may be stored locally and/or remotely, as appropriate. Where asystem includes computerized devices, each such device can includehardware elements that may be electrically coupled via a bus, theelements including, for example, at least one central processing unit(CPU), at least one input device (e.g., a mouse, keyboard, controller,touch-sensitive display element or keypad) and at least one outputdevice (e.g., a display device, printer or speaker). Such a system mayalso include one or more storage devices, such as disk drives, magnetictape drives, optical storage devices and solid-state storage devicessuch as random access memory (RAM) or read-only memory (ROM), as well asremovable media devices, memory cards, flash cards, etc.

Such devices can also include a computer-readable storage media reader,a communications device (e.g., a modem, a network card (wireless orwired), an infrared communication device) and working memory asdescribed above. The computer-readable storage media reader can beconnected with, or configured to receive, a computer-readable storagemedium representing remote, local, fixed and/or removable storagedevices as well as storage media for temporarily and/or more permanentlycontaining, storing, transmitting and retrieving computer-readableinformation. The system and various devices also typically will includea number of software applications, modules, services or other elementslocated within at least one working memory device, including anoperating system and application programs such as a client applicationor Web browser. It should be appreciated that alternate embodiments mayhave numerous variations from that described above. For example,customized hardware might also be used and/or particular elements mightbe implemented in hardware, software (including portable software, suchas applets) or both. Further, connection to other computing devices suchas network input/output devices may be employed.

Storage media and other non-transitory computer readable media forcontaining code, or portions of code, can include any appropriate mediaknown or used in the art, such as but not limited to volatile andnon-volatile, removable and non-removable media implemented in anymethod or technology for storage of information such as computerreadable instructions, data structures, program modules or other data,including RAM, ROM, EEPROM, flash memory or other memory technology,CD-ROM, digital versatile disk (DVD) or other optical storage, magneticcassettes, magnetic tape, magnetic disk storage or other magneticstorage devices or any other medium which can be used to store thedesired information and which can be accessed by a system device. Basedon the disclosure and teachings provided herein, a person of ordinaryskill in the art will appreciate other ways and/or methods to implementthe various embodiments.

The specification and drawings are, accordingly, to be regarded in anillustrative rather than a restrictive sense. It will, however, beevident that various modifications and changes may be made thereuntowithout departing from the broader spirit and scope of the invention asset forth in the claims.

What is claimed is:
 1. A computer-implemented method, comprising:obtaining a plurality of images of an object positioned in anenvironment, the plurality of images taken from a plurality ofviewpoints about the object; generating a point cloud representation ofthe object from the plurality of images; generating a plurality ofsilhouette masks from the plurality of images; discretizing theenvironment into a plurality of three-dimensional spatial units;generating a preliminary surface mesh from the point cloud using aDelaunay-based meshing algorithm; sampling points from the preliminarysurface mesh; adding the sampled points to the point cloud to form anaugmented point cloud; generating, based at least in part on theaugmented point cloud, a plurality of depth maps and associatedconfidence maps corresponding to the plurality of viewpoints, a depthmap of the plurality of depth maps providing measures of distancebetween the corresponding viewpoint and portions of the initial surfacemesh visible from the corresponding viewpoint, the associated confidencemap providing respective confidence values associated with the measuresof distance; determining whether a three-dimensional spatial unit of theplurality of three-dimensional spatial represents a portion of theobject based at least in part on the plurality of silhouette masks, theplurality of depth maps, and the associated confidence maps; andgenerating a final surface mesh of the object based at least in part onthe three-dimensional spatial units that are determined to represent aportion of the object.
 2. The computer-implemented method of claim 1,further comprising: generating an initial surface mesh from theaugmented point cloud using a Poisson-based meshing algorithm.
 3. Thecomputer-implemented method of claim 1, comprising: determining whetherthe three-dimensional spatial unit is inside the representation of theobject according to the silhouette mask, depth map, and confidence mapof a first viewpoint; determining whether the three-dimensional spatialunit is inside the representation of the object according to thesilhouette mask, depth map, and confidence map of a second viewpoint;and aggregating determinations of whether the three-dimensional spatialunit is inside the representation of the object across the plurality ofviewpoints.
 4. The computer-implemented method of claim 1, furthercomprising: providing the final surface mesh to a client device; andproviding image data associated with the object for mapping onto thefinal surface mesh to render a three-dimensional representation of theobject on the client device.
 5. A computer-implemented method,comprising: obtaining a plurality of images of an object positioned inan environment, the plurality of images taken from a plurality ofviewpoints; generating a point cloud of the object from the plurality ofimages; generating a plurality of silhouette masks from the plurality ofimages; discretizing the environment into a plurality ofthree-dimensional spatial units; generating a preliminary surface meshfrom the point cloud using a triangulation-based meshing algorithm;sampling points from the preliminary surface mesh at uniform intervalsabout the preliminary surface mesh; generating an augmented point cloudbased at least in part upon the point cloud and the sampled points;determining which of the plurality of three-dimensional spatial unitsrepresent a portion of the object based at least in part on theaugmented point cloud and the plurality of silhouette masks; andgenerating a representation of the object based at least in part on thethree-dimensional spatial units that are determined as representing aportion of the object.
 6. The computer-implemented method of claim 5,wherein generating the augmented point cloud further includes: addingthe sampled points to the point cloud to form the augmented point cloud.7. The computer-implemented method of claim 5, further comprising:generating, from the point cloud, a plurality of depth mapscorresponding respectively to the plurality of viewpoints.
 8. Thecomputer-implemented method of claim 7, further comprising: generating aplurality of confidence maps corresponding respectively to the pluralityof depth maps.
 9. The computer-implemented method of claim 8, furthercomprising: determining that the silhouette mask corresponding to aparticular viewpoint of the plurality of viewpoint indicates that athree-dimensional spatial unit of the plurality of three-dimensionalspatial units represents a portion of the object; determining that thedepth map corresponding to the particular viewpoint indicates that thethree-dimensional spatial unit does not represent a portion of theobject; determining, based on a confidence map associated with the depthmap, that a confidence level of a region of the depth map correspondingto the three-dimensional spatial unit does not satisfy a thresholdcondition; and determining that the three-dimensional spatial unitrepresents a portion of the object according to data associate with theparticular viewpoint.
 10. The computer-implemented method of claim 7,further comprising: determining, for a particular viewpoint of theplurality of viewpoints, whether a three-dimensional spatial unit of theplurality of three-dimensional spatial units represents a portion of theobject based on the silhouette mask and depth map corresponding to theparticular viewpoint.
 11. The computer-implemented method of claim 10,further comprising: aggregating determinations of whether thethree-dimensional spatial unit represents a portion of the object acrossthe plurality of viewpoints; and designating the three-dimensionalspatial unit as representing a portion of the object based on theaggregated determinations.
 12. The computer-implemented method of claim7, further comprising: determining that the silhouette maskcorresponding to a particular viewpoint of the plurality of viewpointindicates that a three-dimensional spatial unit of the plurality ofthree-dimensional spatial units represents a portion of the object;determining that the depth map corresponding to the particular viewpointindicates that the three-dimensional spatial unit does not represent aportion of the object; and designating the three-dimensional spatialunit as not representing a portion of the object according to dataassociate with the particular viewpoint.
 13. The computer-implementedmethod of claim 12, further comprising: determining, based on aconfidence map associated with the depth map, that a confidence level ofa region of the depth map corresponding to the three-dimensional spatialunit satisfies a threshold condition.
 14. The computer-implementedmethod of claim 5, further comprising: determining that the silhouettemask corresponding to a particular viewpoint of the plurality ofviewpoint indicates that a three-dimensional spatial unit of theplurality of three-dimensional spatial units represents a portion of theobject; and determining that the three-dimensional spatial unitrepresents a portion of the object according to data associate with theparticular viewpoint.
 15. A system, comprising: at least one processor;memory including instructions that, when executed by the at least oneprocessor, cause the system to: obtain a plurality of images of anobject positioned in an environment, the plurality of images taken froma plurality of viewpoints; generate a point cloud of the object from theplurality of images; generate a plurality of silhouette masks from theplurality of images; discretize the environment into a plurality ofthree-dimensional spatial units; generate a preliminary surface meshfrom the point cloud using a triangulation-based meshing algorithm;sample points from the preliminary surface mesh at uniform intervalsabout the preliminary surface mesh; generate an augmented point cloudbased at least in part upon the point cloud and the sampled points;determine which of the plurality of three-dimensional spatial unitsrepresent a portion of the object based at least in part on theaugmented point cloud and the plurality of silhouette masks; andgenerate a representation of the object based at least in part on thethree-dimensional spatial units that are determined as representing aportion of the object.
 16. The system of claim 15, wherein theinstruction, when executed by the at least one processor, further causesthe system to: add the sampled points to the point cloud to form theaugmented point cloud.
 17. The system of claim 15, wherein theinstruction, when executed by the at least one processor, further causesthe system to: generate, from the point cloud, a plurality of depth mapsand associated confidence maps corresponding respectively to theplurality of viewpoints.
 18. The system of claim 17, wherein theinstruction, when executed by the at least one processor, further causesthe system to: determine that the silhouette mask corresponding to aparticular viewpoint of the plurality of viewpoint indicates that athree-dimensional spatial unit of the plurality of three-dimensionalspatial units represents a portion of the object; determine that thedepth map corresponding to the particular viewpoint indicates that thethree-dimensional spatial unit does not represent a portion of theobject; determine, based on a confidence map associated with the depthmap, that a confidence level of a region of the depth map correspondingto the three-dimensional spatial unit satisfies a threshold condition;and designate the three-dimensional spatial unit as not representing aportion of the representation of the object according to data associatewith the particular viewpoint.
 19. The system of claim 17, wherein theinstruction, when executed by the at least one processor, further causesthe system to: determine that the silhouette mask corresponding to aparticular viewpoint of the plurality of viewpoint indicates that athree-dimensional spatial unit of the plurality of three-dimensionalspatial units represents a portion of the object; determine that thedepth map corresponding to the particular viewpoint indicates that thethree-dimensional spatial unit does not represent a portion of theobject; determine, based on a confidence map associated with the depthmap, that a confidence level of a region of the depth map correspondingto the three-dimensional spatial unit does not satisfy a thresholdcondition; and determine that the three-dimensional spatial unitrepresents a portion of the object according to data associate with theparticular viewpoint.
 20. The system of claim 15, wherein theinstruction, when executed by the at least one processor, further causesthe system to: determine that the silhouette mask corresponding to aparticular viewpoint of the plurality of viewpoint indicates that athree-dimensional spatial unit of the plurality of three-dimensionalspatial units does not represent a portion of the object; and determinethat the three-dimensional spatial unit as not representing a portion ofthe object according to data associate with the particular viewpoint.